🔄 LIE ALGEBRA so(3)
Generator J_x weight:
1.0
Generator J_y weight:
0.5
Generator J_z weight:
0.3
Speed:
1.0
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Colors: X=red, Y=green, Z=blue axes
so(3) = tangent space at identity of SO(3). Basis generators Jₓ,Jᵧ,J_z satisfy [Jₓ,Jᵧ]=Jz. Exponential map exp(θn̂·J) gives rotation matrix R∈SO(3).